0.4.1 - inverse kinematics and stairs - VERY AWESOME. Also made the s…

…tairs actually look like stairs now (dunno how I missed that one). And fixed several memory bugs in the loader.

Makefile

@@ -1,4 +1,4 @@
-CXXFLAGS = -I./ -DSTRICT_MEM  -DDEBUG -DTIXML_USE_STL -DUSE_PUGIXML -g3 -Wall
+CXXFLAGS = -I./ -DSTRICT_MEM  -DDEBUG -DTIXML_USE_STL -DUSE_IK -DUSE_PUGIXML -g3 -Wall
 #ifeq( $() )
 #endif
 pugiXML_USE_STL := YES
@@ -26,10 +26,10 @@ UPLOAD := python googlecode_upload.py -p 'l-echo' -s
 
 
 all: $(OFILES)
-	gcc pugixml/*.o *.o -DTIXML_USE_STL -lGL -lGLU -lglut -lpthread -g3 -Wall -o l-echo
+	gcc pugixml/*.o *.o -lGL -lGLU -lglut -lpthread -g3 -Wall -o l-echo
 
 valgrind:
-	valgrind --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=20 --track-fds=yes --suppressions=fglrx.supp --sim-hints=lax-ioctls ./l-echo A1.xml.real 2> summary.txt
+	valgrind --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=20 --track-fds=yes --suppressions=fglrx.supp --sim-hints=lax-ioctls ./l-echo -t A1.xml.real 2> summary.txt
 	sed 's|.*/usr/lib.*|LOL|'  summary.txt > summary3.txt
 
 #lab: CXXFLAGS += -DLAB

echo_character.cpp

@@ -37,6 +37,8 @@
 #include <hole.h>
 #include <isect_grid.h>
 
+#include <gen/gen.h>
+
 //how high aboce the start grid does the character start?
 #define STARTY		30
 
@@ -329,6 +331,25 @@ void echo_char::step()
 	}
 }
 
+vector3f* echo_char::get_direction()
+{
+	if(grid2)	//if both grids are there
+	{
+		grid_info_t* i1 = grid1->get_info(echo_ns::angle);
+		if(i1)
+		{
+			vector3f pos1 = i1->pos;
+			grid_info_t* i2 = grid2->get_info(echo_ns::angle);
+			if(i2)
+			{
+				vector3f pos2 = i2->pos;
+				return(pos2.sub_new(&pos1));
+			}
+		}
+	}
+	return(NULL);
+}
+
 void echo_char::draw(vector3f vec)
 {
 	draw(vec.x, vec.y, vec.z);
@@ -354,18 +375,92 @@ void echo_char::draw(float x, float y, float z)
 		}
 		if(main_grid)
 		{
-			y += grid2->vert_shift(main_per);
+			float vshift = main_grid->vert_shift(main_per);
+			y += vshift;
 			//gfx_translatef(0, grid2->vert_shift(main_per), 0);
-			joints.rshoulder_swing = -20 * echo_cos(dist_traveled_cyclic);
-			joints.lshoulder_swing = 20 * echo_cos(dist_traveled_cyclic);
-			joints.rarm_bend = -10 * echo_cos(dist_traveled_cyclic) - 20;
-			joints.larm_bend = 10 * echo_cos(dist_traveled_cyclic) - 20;
-			joints.rthigh_lift = -45 * echo_cos(dist_traveled_cyclic);
-			joints.lthigh_lift = 45 * echo_cos(dist_traveled_cyclic);
+			joints.rshoulder_swing = -20 * echo_sin(dist_traveled_cyclic);
+			joints.lshoulder_swing = 20 * echo_sin(dist_traveled_cyclic);
+			joints.rarm_bend = -10 * echo_sin(dist_traveled_cyclic) - 20;
+			joints.larm_bend = 10 * echo_sin(dist_traveled_cyclic) - 20;
+			joints.rthigh_lift = 35 * echo_sin(dist_traveled_cyclic) - 15;
+			joints.lthigh_lift = -35 * echo_sin(dist_traveled_cyclic) - 15;
 
+#ifdef USE_IK
+			vector3f* foot_vec = get_direction();
+
+			if(foot_vec != NULL)
+			{
+				vector3f* up = new vector3f(0, 1, 0);
+				CHKPTR(up);
+
+				float left_dir_angle = 0;
+				foot_vec->scalar_angle(up, &left_dir_angle);
+				const float left_dist_foot = (vshift + 0.825f) * echo_sin(abs(joints.lthigh_lift)) 
+											/ echo_sin(left_dir_angle);
+
+				float right_dir_angle = 0;
+				foot_vec->scalar_angle(up, &right_dir_angle);
+				float right_dist_foot = (vshift + 0.825f) * echo_sin(abs(joints.rthigh_lift)) 
+										/ echo_sin(right_dir_angle);
+				//ECHO_PRINT("rdf: %f\n", right_dist_foot);
+				float temp = joints.rleg_bend;
+				if(IK_angle(0.5f, 0.65f, right_dist_foot, &joints.rleg_bend) == WIN)
+				{
+					//ECHO_PRINT("joints.rleg_bend: %f\n", joints.rleg_bend);
+					if(joints.rleg_bend == 0 || joints.rleg_bend != joints.rleg_bend)
+						joints.rleg_bend = temp;
+					else if(joints.rleg_bend > 90)
+						joints.rleg_bend -= 90;
+					//ECHO_PRINT("joints.rleg_bend: %f\n", joints.rleg_bend);
+					temp = joints.lleg_bend;
+					if(IK_angle(0.5f, 0.65f, left_dist_foot, &joints.lleg_bend) == WIN)
+					{
+						if(joints.lleg_bend == 0 || joints.lleg_bend != joints.lleg_bend)
+							joints.lleg_bend = temp;
+						else if(joints.lleg_bend > 90)
+							joints.lleg_bend -= 90;
+					}
+					else
+						echo_error("Inverse Kinematics failed?\n");
+				}
+				else
+					echo_error("Inverse Kinematics failed?\n");
+
+				delete up;
+				delete foot_vec;
+			}
+			else
+			{
+				float temp = joints.rleg_bend;
+				if(IK_angle(0.5f, 0.65f, (vshift + 1.175f) 
+						/ echo_cos(joints.rthigh_lift), &joints.rleg_bend) == WIN)
+				{
+					if(joints.rleg_bend == 0)
+						joints.rleg_bend = temp;
+					temp = joints.lleg_bend;
+					if(IK_angle(0.5f, 0.65f, (vshift + 1.175f) 
+							/ echo_cos(joints.lthigh_lift), &joints.lleg_bend) == WIN)
+					{
+						if(joints.lleg_bend == 0)
+							joints.lleg_bend = temp;
+					}
+					else
+						echo_error("Inverse Kinematics failed?\n");
+				}
+				else
+					echo_error("Inverse Kinematics failed?\n");
+			}
+
+
+			/*
+			ECHO_PRINT("joints.lthigh_lift: %f\n", joints.lthigh_lift);
+			ECHO_PRINT("echo_cos(joints.lthigh_lift): %f\n", echo_cos(joints.lthigh_lift));
+			ECHO_PRINT("dist: %f\n", (vshift + 1.837f) / echo_cos(joints.lthigh_lift));
+			ECHO_PRINT("lleg: %f\n", joints.lleg_bend);
+			// */
+#else
 			#define LEG_BEND_MAX	30
 
-			//*
 			if(dist_traveled > 1 && dist_traveled <= 1.5f)
 				joints.rleg_bend = LEG_BEND_MAX * echo_cos(dist_traveled * 180 + 180);
 			else if(dist_traveled > 3.0f || dist_traveled <= 1)
@@ -378,7 +473,7 @@ void echo_char::draw(float x, float y, float z)
 				joints.lleg_bend = LEG_BEND_MAX * echo_sin(dist_traveled * 45 - 90);
 			else
 				joints.lleg_bend = 0;
-			// */
+#endif
 		}
 		gfx_translatef(x, y, z);
 		//direction he is facing.

echo_character.h

@@ -86,6 +86,8 @@ class echo_char
 
 		void toggle_run();
 
+		vector3f* get_direction();
+
 		//pause or unpause
 		void toggle_pause();
 		//is this character paused?

echo_error.cpp

@@ -52,3 +52,8 @@ void genmemerr()
 	//*c = 'l';
 }
 
+void echo_error(const char* msg)
+{
+	ECHO_PRINT(msg);
+	std::exit(1);
+}

echo_error.h

@@ -37,6 +37,7 @@ void ldwarn(const char* msg);
 
 //GENeral MEMory ERRor
 void genmemerr();
+void echo_error(const char* msg);
 
 #ifdef STRICT_MEM
 	#define CHKPTR(ptr) 	if(!(ptr)) genmemerr();

echo_gfx.cpp

@@ -347,7 +347,7 @@ void draw_character(echo_char_joints* joints)
 				draw_sphere_pointzero75();
 				if(joints != NULL)
 					gfx_rotatef(joints->lfoot_x, 1, 0, 0);
-				glTranslatef(0.01f, -0.15f, -0.075f);
+				glTranslatef(0.01f, -0.15f, 0.025f);
 				SET_ID(11);
 				draw_foot();
 			}
@@ -379,7 +379,7 @@ void draw_character(echo_char_joints* joints)
 				draw_sphere_pointzero75();
 				if(joints != NULL)
 					gfx_rotatef(joints->rfoot_x, 1, 0, 0);
-				glTranslatef(-0.01f, -0.15f, -0.075f);
+				glTranslatef(-0.01f, -0.15f, 0.025f);
 				SET_ID(11);
 				draw_foot();
 			}

echo_loader.cpp

@@ -236,6 +236,8 @@ stage* load_stage(char* file_name)
 #endif
 						{
 							lderr("parse not successful!");
+							delete (*root);
+							delete root;
 							delete child;
 							delete e;
 							echo_xml_delete_file(*doc);
@@ -253,6 +255,8 @@ stage* load_stage(char* file_name)
 					{
 
 						lderr("unknown node type!");
+						delete (*root);
+						delete root;
 						delete child;
 						delete e;
 						echo_xml_delete_file(*doc);
@@ -269,6 +273,8 @@ stage* load_stage(char* file_name)
 				else
 				{
 					lderr("couldn't get node type!\n");
+					delete (*root);
+					delete root;
 					delete child;
 					delete e;
 					echo_xml_delete_file(*doc);
@@ -282,9 +288,10 @@ stage* load_stage(char* file_name)
 					return(NULL);
 				}
 			}
-			while(echo_xml_next_sibling(*child , child));
+			while(echo_xml_next_sibling(*child, child));
 			delete e;
 		}
+		//delete *child;
 		delete child;
 		//-------------------------------------------------------------get starting point string
 		char** start = new(char*);
@@ -364,6 +371,7 @@ stage* load_stage(char* file_name)
 		delete_dependencies(map);
 		echo_xml_delete_file(*doc);
 		delete doc;
+		delete (*root);
 		delete root;
 		//-------------------------------------------------------------hand out the polyIDs
 #ifdef ECHO_NDS
@@ -559,6 +567,7 @@ static int add_esc(echo_xml_element* child, stage* st, DEPENDENCY_MAP* map, escg
 						if(g != NULL)
 						{
 							egrid->add(each_angle, g);
+							delete *first;
 							delete first;
 							delete e;
 							delete type;
@@ -573,6 +582,7 @@ static int add_esc(echo_xml_element* child, stage* st, DEPENDENCY_MAP* map, escg
 				}
 				else
 					lderr("no esc in angle!");
+				delete *first;
 				delete first;
 			}
 			else
@@ -889,6 +899,7 @@ static trigger* get_trigger(echo_xml_element* txe, stage* st, DEPENDENCY_MAP* ma
 		}
 		delete e;
 	}
+	delete *first;
 	delete first;
 	char* name = get_attribute(txe, "id", "no id for trigger");
 	if(name != NULL)
@@ -1228,6 +1239,7 @@ static grid* parse_grid(echo_xml_element* txe, stage* st, DEPENDENCY_MAP* map, e
 									delete e;
 								}
 							}
+							delete *first;
 							delete first;
 							//dep check
 							FUNCTOR_VEC* deps = dep_set(map, name);
@@ -1246,6 +1258,7 @@ static grid* parse_grid(echo_xml_element* txe, stage* st, DEPENDENCY_MAP* map, e
 							}
 							else
 								LD_PRINT("deps not found for: %s\n", name);
+							delete type;
 							return(new_grid);
 
 						}